From 94a71fa564c0987d9d4432a0502ba68a8885fcc4 Mon Sep 17 00:00:00 2001 From: Michal Sojka Date: Thu, 22 Aug 2024 17:25:28 +0200 Subject: [PATCH] Initial commit --- LICENSE | 202 ++++++++++++++++++++++++++++++++++++++++++++ flake.lock | 118 ++++++++++++++++++++++++++ flake.nix | 29 +++++++ ros2nix/__init__.py | 0 ros2nix/ros2nix.py | 134 +++++++++++++++++++++++++++++ 5 files changed, 483 insertions(+) create mode 100644 LICENSE create mode 100644 flake.lock create mode 100644 flake.nix create mode 100644 ros2nix/__init__.py create mode 100755 ros2nix/ros2nix.py diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..d645695 --- /dev/null +++ b/LICENSE @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/flake.lock b/flake.lock new file mode 100644 index 0000000..0ed9144 --- /dev/null +++ b/flake.lock @@ -0,0 +1,118 @@ +{ + "nodes": { + "flake-utils": { + "inputs": { + "systems": "systems" + }, + "locked": { + "lastModified": 1710146030, + "narHash": "sha256-SZ5L6eA7HJ/nmkzGG7/ISclqe6oZdOZTNoesiInkXPQ=", + "owner": "numtide", + "repo": "flake-utils", + "rev": "b1d9ab70662946ef0850d488da1c9019f3a9752a", + "type": "github" + }, + "original": { + "owner": "numtide", + "repo": "flake-utils", + "type": "github" + } + }, + "flake-utils_2": { + "inputs": { + "systems": "systems_2" + }, + "locked": { + "lastModified": 1705309234, + "narHash": "sha256-uNRRNRKmJyCRC/8y1RqBkqWBLM034y4qN7EprSdmgyA=", + "owner": "numtide", + "repo": "flake-utils", + "rev": "1ef2e671c3b0c19053962c07dbda38332dcebf26", + "type": "github" + }, + "original": { + "owner": "numtide", + "repo": "flake-utils", + "type": "github" + } + }, + "nix-ros-overlay": { + "inputs": { + "flake-utils": "flake-utils_2", + "nixpkgs": "nixpkgs" + }, + "locked": { + "lastModified": 1712797796, + "narHash": "sha256-SkCWsnJ6H+LbXt7PLroXCPlb0k52+EG7WKEXtWjuNbI=", + "owner": "lopsided98", + "repo": "nix-ros-overlay", + "rev": "e239e71fd2ce40ce1f7499328a4c92e9473fec88", + "type": "github" + }, + "original": { + "owner": "lopsided98", + "ref": "master", + "repo": "nix-ros-overlay", + "type": "github" + } + }, + "nixpkgs": { + "locked": { + "lastModified": 1707268954, + "narHash": "sha256-2en1kvde3cJVc3ZnTy8QeD2oKcseLFjYPLKhIGDanQ0=", + "owner": "lopsided98", + "repo": "nixpkgs", + "rev": "f8e2ebd66d097614d51a56a755450d4ae1632df1", + "type": "github" + }, + "original": { + "owner": "lopsided98", + "ref": "nix-ros", + "repo": "nixpkgs", + "type": "github" + } + }, + "root": { + "inputs": { + "flake-utils": "flake-utils", + "nix-ros-overlay": "nix-ros-overlay", + "nixpkgs": [ + "nix-ros-overlay", + "nixpkgs" + ] + } + }, + "systems": { + "locked": { + "lastModified": 1681028828, + "narHash": "sha256-Vy1rq5AaRuLzOxct8nz4T6wlgyUR7zLU309k9mBC768=", + "owner": "nix-systems", + "repo": "default", + "rev": "da67096a3b9bf56a91d16901293e51ba5b49a27e", + "type": "github" + }, + "original": { + "owner": "nix-systems", + "repo": "default", + "type": "github" + } + }, + "systems_2": { + "locked": { + "lastModified": 1681028828, + "narHash": "sha256-Vy1rq5AaRuLzOxct8nz4T6wlgyUR7zLU309k9mBC768=", + "owner": "nix-systems", + "repo": "default", + "rev": "da67096a3b9bf56a91d16901293e51ba5b49a27e", + "type": "github" + }, + "original": { + "owner": "nix-systems", + "repo": "default", + "type": "github" + } + } + }, + "root": "root", + "version": 7 +} diff --git a/flake.nix b/flake.nix new file mode 100644 index 0000000..194070e --- /dev/null +++ b/flake.nix @@ -0,0 +1,29 @@ +{ + description = "A basic flake with a shell"; + inputs.flake-utils.url = "github:numtide/flake-utils"; + inputs.nix-ros-overlay.url = "github:lopsided98/nix-ros-overlay/master"; + inputs.nixpkgs.follows = "nix-ros-overlay/nixpkgs"; + + outputs = + { nixpkgs, flake-utils, nix-ros-overlay, ... }: + flake-utils.lib.eachDefaultSystem ( + system: + let + pkgs = import nixpkgs { + inherit system; + overlays = [ nix-ros-overlay.overlays.default ]; + }; + in + { + devShells.default = pkgs.mkShell { + inputsFrom = [ + ]; + packages = [ + pkgs.bashInteractive + pkgs.superflore + pkgs.python3Packages.rosdep + ]; + }; + } + ); +} diff --git a/ros2nix/__init__.py b/ros2nix/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/ros2nix/ros2nix.py b/ros2nix/ros2nix.py new file mode 100755 index 0000000..e4fbe00 --- /dev/null +++ b/ros2nix/ros2nix.py @@ -0,0 +1,134 @@ +#!/usr/bin/env python3 + +# Copyright 2019-2024 Ben Wolsieffer +# Copyright 2024 Michal Sojka + +import argparse +import itertools +from catkin_pkg.package import parse_package_string +from rosinstall_generator.distro import get_distro +from superflore.PackageMetadata import PackageMetadata +from superflore.exceptions import UnresolvedDependency +from superflore.generators.nix.nix_package import NixPackage +from superflore.generators.nix.nix_expression import NixExpression, NixLicense +from superflore.utils import (download_file, get_distro_condition_context, + get_distros, get_pkg_version, info, resolve_dep, + retry_on_exception, warn) +from typing import Dict, Iterable, Set +from superflore.utils import err +from superflore.utils import ok +from superflore.utils import warn + +org = "Open Source Robotics Foundation" # TODO change +org_license = "BSD" # TODO change + + +def resolve_dependencies(deps: Iterable[str]) -> Set[str]: + return set(itertools.chain.from_iterable( + map(resolve_dependency, deps))) + +def resolve_dependency(d: str) -> Iterable[str]: + try: + # Try resolving as system dependency via rosdep + return resolve_dep(d, 'nix')[0] + except UnresolvedDependency: + # Assume ROS or 3rd-party package + return (NixPackage.normalize_name(d),) + +# Adapted from rosdistro.dependency_walker.DependencyWalker._get_dependencies() +def get_dependencies_as_set(pkg, dep_type): + deps = { + 'build': pkg.build_depends, + 'buildtool': pkg.buildtool_depends, + 'build_export': pkg.build_export_depends, + 'buildtool_export': pkg.buildtool_export_depends, + 'exec': pkg.exec_depends, + 'run': pkg.run_depends, + 'test': pkg.test_depends, + 'doc': pkg.doc_depends, + } + return set([d.name for d in deps[dep_type] if d.evaluated_condition is not False]) + + +def main(args): + parser = argparse.ArgumentParser() + parser.add_argument("xml", help="Path to package.xml") + args = parser.parse_args() + + try: + distro_name = "humble" + + with open(args.xml, 'r') as f: + package_xml = f.read() + + pkg = parse_package_string(package_xml) + pkg.evaluate_conditions(NixPackage._get_condition_context(distro_name)) + + buildtool_deps = get_dependencies_as_set(pkg, "buildtool") + buildtool_export_deps = get_dependencies_as_set(pkg, "buildtool_export") + build_deps = get_dependencies_as_set(pkg, "build") + build_export_deps = get_dependencies_as_set(pkg, "build_export") + exec_deps = get_dependencies_as_set(pkg, "exec") + test_deps = get_dependencies_as_set(pkg, "test") + + # buildtool_depends are added to buildInputs and nativeBuildInputs. + # Some (such as CMake) have binaries that need to run at build time + # (and therefore need to be in nativeBuildInputs. Others (such as + # ament_cmake_*) need to be added to CMAKE_PREFIX_PATH and therefore + # need to be in buildInputs. There is no easy way to distinguish these + # two cases, so they are added to both, which generally works fine. + build_inputs = set(resolve_dependencies( + build_deps | buildtool_deps)) + propagated_build_inputs = resolve_dependencies( + exec_deps | build_export_deps | buildtool_export_deps) + build_inputs -= propagated_build_inputs + + check_inputs = resolve_dependencies(test_deps) + check_inputs -= build_inputs + + native_build_inputs = resolve_dependencies( + buildtool_deps | buildtool_export_deps) + + derivation = NixExpression( + name=NixPackage.normalize_name(pkg.name), + version=pkg.version, + src_url="src_uri", # TODO + src_sha256="src_sha256", + description=pkg.description, + licenses=map(NixLicense, pkg.licenses), + distro_name=distro_name, + build_type=pkg.get_build_type(), + build_inputs=build_inputs, + propagated_build_inputs=propagated_build_inputs, + check_inputs=check_inputs, + native_build_inputs=native_build_inputs) + + except Exception as e: + err('Failed to generate derivation for package {}!'.format(pkg)) + raise e + + try: + derivation_text = derivation.get_text(org, org_license) + except UnresolvedDependency: + err("'Failed to resolve required dependencies for package {}!" + .format(pkg)) + unresolved = unresolved_dependencies + for dep in unresolved: + err(" unresolved: \"{}\"".format(dep)) + return None, unresolved, None + except Exception as e: + err('Failed to generate derivation for package {}!'.format(pkg)) + raise e + + ok(f"Successfully generated derivation for package '{pkg.name}'.") + try: + with open('package.nix', "w") as recipe_file: + recipe_file.write(derivation_text) + except Exception as e: + err("Failed to write derivation to disk!") + raise e + + +if __name__ == '__main__': + import sys + main(sys.argv[1:])